3 papers
cs.RO2025
VLM-driven Skill Selection for Robotic Assembly Tasks
Jeong-Jung Kim, Doo-Yeol Koh, Chang-Hyun Kim
This paper presents a robotic assembly framework that combines Vision-Language Models (VLMs) with imitation learning for assembly manipulation tasks. Our system employs a gripper-e…
cs.RO2025
Experimental Evaluation of Precise Placement of the Hollow Object with Asymmetric Pivot Manipulation
Jinseong Park, Jeong-Jung Kim, Doo-Yeol Koh
In this paper, we present asymmetric pivot manipulation for picking up rigid hollow objects to achieve a hole grasp. The pivot motion, executed by a position-controlled robotic arm…
cs.RO2024
Visuo-Tactile Keypoint Correspondences for Object Manipulation
Jeong-Jung Kim, Doo-Yeol Koh, Chang-Hyun Kim
This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our appro…